ME 351 MDV Jan 2014 : Forced Vibration of SDOF & Two Degree of Freedom Systems –Tutorial

1. Find the natural frequencies and mode shapes of the system shown in figure 1. Derive the formula
used.
2. Derive the equation of motion of the system shown in figure 2. Find the natural frequencies and
mode shape. Also name the system
3. Derive the equation of motion of the system shown in figure 3. Find the natural frequencies
4. Derive the equation of motion of the system shown in figure 4. Find the natural frequencies
5. Find the natural frequencies and mode shapes of a double pendulum shown in figure 5

2000 N/m
J1 J2 r
Kt
10 kg
m2
Figure 2 k1
4000 N/m k2

m1
20 kg
k
m m
6000 N/m Figure 3
l1
Figure 4
Figure 1
m1
l2
Figure 5
m2

6. An industrial electrical motor generator set is modeled as shown in figure 2. Derive the equation of
motion of the system and find the natural frequencies and mode shape. The steel shaft has 100 mm
diameter and 3000 mm long. Motor rotor is treated as a uniform steel disc of 1250 mm diameter & 50
mm thick and generator rotor has 2000 mm diameter, 37 mm thick. (For steel E = 2.1105 N/mm2,
G = 0.8105 N/mm ,  = 0.3, g = 9810 mm/s ,  = 7.83109 Ns /mm , ultimate strength 420 MPa,
2 2 2 4

Yield 210 MPa)

7. A small pulley of mass 10 kg is used to pull a mass of 2 kg. The rope used to pull the mass has
60 N/m stiffness at the side where mass is connected and 40 N/m at the pulling side (Figure 3). What
are the frequencies at which this pulley should not be operated? What will be amplitude ratio if the
system is operated at these frequencies, radius of the pulley may be taken as unity for amplitude
calculation. {clearly derive governing differential equation of motion, amplitude equation and frequency
equations}

ME 351 MDV kvganga Page 1 of 4

8. Derive the condition for a turned dynamic vibration damper. In a turned dynamic vibration absorber
which is connected to a SDOF system having a mass of 100 kg, the mass of the absorber is 5 kg and
amplitude of disturbing force is 350 N. If the main mass is at rest when the forcing frequency is
120 Hz. Find the amplitude of vibration of the absorber mass and stiffness of the absorber. Also find
the stiffness of the SDOF system.

9. A passenger vehicle has been modeled as a two degree of freedom system with following system
properties. The mass of the vehicle body is 2000 kg and a wheel base (distance between front wheel
and rear wheel) of 4000 mm. It is estimated that the mass centre cg is 1800 mm from the front axle.
Radius of gyration of the vehicle about the cg is found to be 1500 mm. The effective stiffness at front
axle is 44000 N/m and that of rear axle is 50000 N/m. Determine the (i) frequencies at which the
vehicle will have higher vibration amplitude that gives discomfort to the passenger, (ii) sketch the
engineering model of the system and mark all system properties.(iii) State what should be condition
to make the model uncoupled SDOF
10. An industrial machine is capable of running at four fixed operating speeds 300, 600, 900 and 1200
rpm. The machine has a mass 1000 kg and is supported on isolation pad kept on the foundation.
Static deflection of the isolation pad under dead weight of the motor is 10 mm. Acceleration due to
gravity measured at the machine site is 98100 mm/sec 2. Damping factor of the system is estimated
to be 0.1. The rotating part of the machine has an unbalance of 131.929 kg mm (rotating mass X
eccentricity) , determine the excitation force and force transmitted to the foundation at 300 and
1200 rpm and suggest the best operating speed for a the given system and justify your answer with
numerical values. Do you suggest any speed to be avoided if yes, why? {determine excitation force,
transmitted force, show graph showing the force transmitted vs frequency ratio, clearly indicate the
equations used, given description for the graph}

11. In a turned dynamic vibration absorber which is connected to a SDOF system having a mass of 90 kg,
the mass of the absorber is 4.5 kg and amplitude of disturbing force is 300 N. If the main mass is at
rest when the forcing frequency is 100 Hz. Find the amplitude of vibration of the absorber mass and
stiffness of the absorber. Also find the stiffness of the SDOF system.

12. When a variable speed rotating machine of 2000 kg mass having some residual rotating unbalance
was operated at resonance, vibration amplitude of 0.5 mm was measured. As the operating speed
increased to a large value, the amplitude of vibration appeared to approach a constant value of
0.01 mm. Determine the (i) damping factor of the system (ζ) and (ii) when the angular velocity of the
rotor is 500 rad / second, what will be the maximum centrifugal force ( Fo in kN) due to unbalance. If
the quality of balance of the rotor is G6.3 (as per ISO 1940/I ), then find the eccentricity (e).

13. An induction motor is coupled to a DC generator which is used for welding application. One of the
possible models is given in the figure 2, Assume vertical motion with no lateral motion permitted. Mass
of the motor is 1000 kg, and that of the generator is 3000 kg, Mass moment of inertia of the motor with
2 2
respect to its CG is estimated to be 60 kg m and that of the generator is 200 kg m . The Motor

ME 351 MDV kvganga Page 2 of 4

 generator set is mounted on a base and the base is kept on a set of pads which can be models as two
springs, each with 2 MN/m stiffness. The combined CG of the system is 1 m from the generator CG. ,
distance between Motor CG and Generator CG is 3 m. Generator support is in line with its CG
whereas Motor support is 0.1m outside the its CG.(as shown in figure 7). What are the frequencies at
which this system should not run. {Clearly write governing differential equation of motion, amplitude
equation and frequency equations, show the system parameter calculations, draw simplified model,
indicate DOF}

Figure 6 Figure 7 3m

Horizontal excitation 1m

CG motor CG generator
CG combined
Exciter Motor Generator

0.1m Mass of Motor = 1000 kg

Rubber isolator designed to give Mass of Generator = 3000 kg
2
stiffness in horizontal direction J motor cg = 60 kg m
2
J generator cg = 200 kg m
Support spring = 2 MN/meach
Distance CG motor to CG generator = 3 m
Distance CG combined to CG generator = 1 m

14. Machinery kept on isolators is vibrating violently in horizontal direction during starting and stopping. No
system details are available. To investigate the problem, a counter rotating double mass exciter is
used to produce a forced vibration in the system (as shown in Figure 6). Excitation is in the horizontal
direction. By varying the speed of the exciter, a resonant amplitude was measured as 6 mm. When the
exciter speed was increased further (much beyond the natural frequency) the amplitude of vibration
appeared to approach a value of 0.12 mm. Estimate the damping factor of the system. Suggest a
method (giving numerical values) to bring down the resonant amplitude to 1 mm. {give equations and
graphs used }

15. NITK racing SAE BAJA all terrain vehicle of 2007, have following specifications.(figure 2)

Overall Length 2520 mm Engine Lombardini® LGA-280, 9 HP, 6.4 kW

Wheel Base 1680 mm Max. Torque 19.2 Nm @ 2700 RPM
Front Wheel Track 1575 mm Max. Speed 57 km/hr (Top Gear),10 km/hr (Lowest gear)
Rear Wheel Track 1625 mm Chassis Type C1018 steel, seamless tubular frame
Overall Weight 340 kg Steering Maruti 800 Rack and Pinion
(with 75 kg driver)
Front Suspension 7.5 cm travel, Gabriel® Coil-over shocks
Rear Suspension 6 cm travel, Gabriel® Coil-over and Pneumatic shocks

ME 351 MDV kvganga Page 3 of 4

Total mass of the vehicle including driver is 340 kg.
wheel base is 1680 mm, estimated stiffness of front
suspension in the vertical direction is 5423 N/m, that of
rear suspension is 8000 N/m. CG of the vehicle with
driver is located at 1000 mm from front wheel, the car is
treated as symmetrical about the longitudinal axis.
Radius of gyration of the vehicle about the pitch () axis
is estimated to be 1000 mm. Treat the system as two
degree of freedom system with bounce (x) and pitch ()
alone. Figure. 2

(i) Draw the equivalent two degree of freedom engineering model of the BAJA vehicle, indicate all the
system parameters (with unit) . Draw the free Body diagram of the car body and indicate the degree of
freedom and forces/moments acting on the body. Write the governing differential equation of motion.
(ii) Based on the model, estimate the frequencies where better damping is essential to provide good ride
comfort to the driver and state justification.
(iii) Referring to this question, What is meant by coupled system, Under what condition it can be treated
as uncoupled system?
(iv) Describe and draw a sketch of any other industrial application where same 2DOF engineering model
can be used.

16. A variable frequency drive (VFD) motor has a power rating of 100 kW, with an operating speed range
of 600 rpm to 1200 rpm. It is mounted on a specially designed mount. To estimate the system
parameter trial runs were conducted at different speeds. When the test run conducted at
100 radians/second (motor speed), it was found that spring force (kX) is 20 kN, maximum spring
deflection (X) is 1 mm, The excitation force (F0) and displacement (X) has a phase difference of 90
degree. From motor data sheet total mass of the motor rotor is given as 1000 kg and the quality of
balance of the rotor is specified as G6.3 (as per ISO 1940/I, quality of balance is specified as the linear
velocity of the cg in mm/s, in this case 6.3 mm/s is the linear velocity of the cg).

(i) Find the mass of the system, damping present in the system and force transmitted to the base.

(ii) If the force transmitted to the base has to be less than or equal to 630 N, what should be speed at
which motor has to run ? (write the speed in rad/sec )

(iii) Draw the transmissibility graph and explain the three regions of importance, how transmissibility can
be controlled in these regions?

ME 351 MDV kvganga Page 4 of 4